// --------------------------------------------------------------------------------------------------------------------
// <copyright file="DifferentialWheelCalibrationLoaderTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------
namespace Test.Robotics.Navigation.Motion
{
    using Microsoft.Robotics.IO;
    using Microsoft.Robotics.Navigation.Motion;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Wheel calibration info data loader related tests.
    /// </summary>
    [TestClass]
    public class DifferentialWheelCalibrationLoaderTest
    {
        /// <summary>
        /// Tests wheel calibration loader export/import.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void DifferentialWheelCalibrationSaveAndLoadTest()
        {
            string testFileName = DifferentialWheelCalibration.Filename;
            DifferentialWheelCalibration testDifferentialWheelCalibrationInfo = new DifferentialWheelCalibration(0.035, 0.982);

            DataLoader<DifferentialWheelCalibration>.ExportData(testFileName, testDifferentialWheelCalibrationInfo);
            DifferentialWheelCalibration readDifferentialWheelCalibrationInfo = DataLoader<DifferentialWheelCalibration>.ImportData(testFileName);
            Assert.AreEqual(testDifferentialWheelCalibrationInfo.WheelBaseScalingFactor, testDifferentialWheelCalibrationInfo.WheelBaseScalingFactor);
            Assert.AreEqual(testDifferentialWheelCalibrationInfo.WheelAverageDiameterScalingFactor, testDifferentialWheelCalibrationInfo.WheelAverageDiameterScalingFactor);
        }
    }
}
